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@Just Asking: I corrected punctuation but actually still don't understand what's being asked about. Could you please specify the hardware setup you're interested in and clarify what functionality should be realized by which party?

1 answer

Theoretically, you could have a ground station running QGroundControl communicate to a mobile computer running ROS and serial_mavlink_ros

Unfortunately, the message that comes out of serial_mavlink_ros is a MAVLINK packet wrapped in a ROS message, so you'd probably need to write your own node to decode it and listen for waypoint commands.

I don't understand your question about computer vision. In general, computer vision is very difficult, particularly if you're operating in an outdoor environment. I doubt that it's possible to replace an IMU with a camera.

The Kinect doesn't function well outdoors, and the maximum range is 4-5 meters. If you want navigation, you'll have to figure out which sensors are appropriate to your application and which navigation nodes you'll need to process their input.

I guess I might as well use MAVCONN since it already has computer vision. I also found that using ROS at this stage can be a bit too bulky, especially with decoding each MAVlink packet being received. I can add ROS to add some flexibility in the program though.